危双丰,刘振彬,赵江洪,庞帆

• 1:北京建筑大学测绘与城市空间信息学院
• 2:现代城市测绘国家测绘地理信息局重点实验室
• 3:建筑遗产精细重构与健康监测北京市重点实验室

摘要(Abstract)：

随着智慧城市、文物保护、室内导航、虚拟现实等对室内精细化三维模型的需求越来越多,室内三维重建成为了研究热点。最近SLAM作为高效的室内三维重建技术得到了广泛关注与快速发展,并被成功应用于各种移动测图平台,如移动背包、推车、微型无人机等。该文首先对SLAM发展现状及关键技术进行整体回顾,然后对基于不同移动平台及深度相机SLAM室内三维重建系统进行深入分析和比较,最后讨论SLAM技术在室内三维重建中存在的问题及发展趋势。

关键词(KeyWords)： SLAM;移动背包;推车;微型无人机(MAV);RGB-D相机;室内三维重建

Abstract:

Keywords:

基金项目(Foundation): 国家自然科学基金项目(41601409);; 北京市自然科学基金项目(8172016)

作者(Author): 危双丰,刘振彬,赵江洪,庞帆

DOI: 10.16251/j.cnki.1009-2307.2018.07.003

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